ArticleFrontiers in neurorobotics2022
A Compliant Force Control Scheme for Industrial Robot Interactive Operation.
Article in Frontiers in neurorobotics, 2022. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 1 paper.
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1 citing paper in PubMed.
- A Universal Tool Interaction Force Estimation Approach for Robotic Tool Manipulation.Sensors (Basel, Switzerland) · 2025Article
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4 authors.
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Abstract
To meet the enormous demand for smart manufacturing, industrial robots are playing an increasingly important role. For industrial operations such as grinding 3C products, numerous demands are placed on the compliant interaction ability of industrial robots to interact in a compliant manner. In this article, an adaptive compliant control framework for robot interaction is proposed. The reference trajectory is obtained by single-point demonstration and DMP generalization. The adaptive feedforward and impedance force controller is derived in terms of position errors, and they are input into an admittance controller to obtain the updated amount of position deviation. The compliant interaction effect is achieved, which is shown that the grinding head fits on the curved surface of a computer mouse, and the interaction force is within a certain expected range in the grinding experiment based on the performance an Elite robot. A comparative experiment was conducted to demonstrate the effectiveness of the proposed framework in a more intuitive way.
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